Controlling a vehicle in a planned stop-and-go situation

ABSTRACT

The present disclosure relates to a pull up controlling system of a vehicle for controlling the vehicle in a planned stop-and-go situation. The pull up controlling system determines a position of the vehicle and identifies a stop-and-go destination within a predeterminable distance from the vehicle position. The stop-and-go destination includes an interaction interface. The pull up controlling system provides a user input request relating to whether to discard or acknowledge the stop-and-go destination. The pull up controlling system receives intention data indicative of confirmation to acknowledge the stop-and-go destination. The pull up controlling system further derives preference data indicative of an openable section of the vehicle. The pull up controlling system maneuvers the vehicle to pull up at the stop-and-go destination, with the openable section aligned with the interaction interface.

FIELD

The present disclosure relates to controlling a vehicle in a plannedstop-and-go situation.

BACKGROUND

An increasing number of modern vehicles have advanced driver-assistancesystems, ADAS, to increase vehicle safety and more generally roadsafety. ADAS—which for instance may be represented by lane departureavoidance, adaptive cruise control, ACC, collision avoidance system,forward collision warning, etc.—are electronic systems that may aid avehicle driver while driving. To function as intended, ADAS may rely oninputs from multiple data sources, such as e.g. LIDARs, radars,ultrasonics, cameras, automotive imaging, image processing, computervision, and/or in-car networking.

Moreover, in a not too distant future, autonomous or automated drivingsystems, AD systems, will to greater extent find their way into modernvehicles. An AD system is a complex combination of various componentsthat can be defined as systems where perception, decision making, andoperation of the vehicle are performed by electronics and machineryinstead of a human driver, and as introduction of automation into roadtraffic. This includes handling of the vehicle, destination, as well asawareness of surroundings. While the automated system has control overthe vehicle, it allows the human operator to leave all responsibilitiesto the system. An AD system commonly combines a variety of sensors toperceive the vehicle's surroundings, such as e.g. radar, LIDAR, sonar,camera, navigation and/or positioning system e.g. GNSS such as GPS,odometer and/or inertial measurement units, upon which advanced controlsystems may interpret sensory information to identify appropriatenavigation paths, as well as obstacles and/or relevant signage.

Notwithstanding this advanced modern technology —available today and/orwithin a near future—planned vehicle stop-and-go situations, such aspulling up at a mailbox or drive thru or the like, are commonlyapproached in an old-fashioned manner.

SUMMARY

It is therefore an object of embodiments herein to provide an approachfor in an improved and/or alternative manner controlling a vehicle in aplanned stop-and-go situation.

The object above may be achieved by the subject-matter disclosed herein.Embodiments are set forth in the appended claims, in the followingdescription and in the drawings.

The disclosed subject-matter relates to a method performed by a pull upcontrolling system of a vehicle for controlling the vehicle in a plannedstop-and-go situation. The pull up controlling system determines withsupport from a positioning system, a position of the vehicle. The pullup controlling system further identifies with support from a digitalmap, a stop-and-go destination within a predeterminable distance fromthe vehicle position, wherein the stop-and-go destination comprises aninteraction interface. Moreover, the pull up controlling system requestswith support from a user interface, user input relating to whether todiscard or acknowledge the stop-and-go destination. Furthermore, thepull up controlling system receives with support from the userinterface, intention data indicative of confirmation to acknowledge thestop-and-go destination. The pull up controlling system further derivespreference data indicative of an openable section of the vehicle.Moreover, the pull up controlling system maneuvers, with support from anadvanced driver-assistance system, ADAS, or autonomous driving, AD,system of the vehicle, the vehicle to pull up at the stop-and-godestination, with the openable section aligned with the interactioninterface.

The disclosed subject-matter further relates to a pull up controllingsystem of a vehicle for controlling the vehicle in a planned stop-and-gosituation. The pull up controlling system comprises a positiondetermining unit for—and/or adapted for—determining with support from apositioning system, a position of the vehicle. The pull up controllingsystem further comprises a destination identifying unit for—and/oradapted for—identifying with support from a digital map, a stop-and-godestination within a predeterminable distance from the vehicle position,wherein the stop-and-go destination comprises an interaction interface.Moreover, the pull up controlling system comprises an input requestingunit for—and/or adapted for—providing with support from a userinterface, a user input request relating to whether to discard oracknowledge the stop-and-go destination. Furthermore, the pull upcontrolling system comprises an intention receiving unit for receivingwith support from the user interface, intention data indicative ofconfirmation to acknowledge the stop-and-go destination. The pull upcontrolling system further comprises a preferences deriving unitfor—and/or adapted for—deriving preference data indicative of anopenable section of the vehicle. Moreover, the pull up controllingsystem comprises a maneuvering unit for—and/or adapted for—maneuveringwith support from an advanced driver-assistance system, ADAS, orautonomous driving, AD, system of the vehicle, the vehicle to pull up atthe stop-and-go destination, with the openable section aligned with theinteraction interface.

Furthermore, the disclosed subject-matter relates to a vehiclecomprising a pull up controlling system as described herein.

Moreover, the disclosed subject-matter relates to a computer programproduct comprising a computer program containing computer program codemeans arranged to cause a computer or a processor to execute the stepsof a pull up controlling system described herein, stored on acomputer-readable medium or a carrier wave.

The disclosed subject-matter further relates to a non-volatile computerreadable storage medium having stored thereon said computer programproduct

Thereby, there is introduced an approach according to which an occupantof a vehicle may be assisted in pulling up at a desired stop-and-godestination —such as a mailbox and/or drive thru restaurant or thelike—in a convenient manner. That is, since there is determined withsupport from a positioning system a position of the vehicle, there isestablished a geographical position and/or localization of the vehicle.Moreover, that is, since there is identified with support from a digitalmap, a stop-and-go destination within a predeterminable distance fromthe vehicle position, wherein the stop-and-go destination comprises aninteraction interface, a place and/or facility suitable, of interestand/or applicable for a temporary vehicle pull up, having an interactioninterface such as e.g. a mailbox or mailbox opening and/or drive thrudelivery/payment window, may be found in vicinity of the vehicle.Furthermore, that is, since there is provided with support from a userinterface, a user input request relating to whether to discard oracknowledge the stop-and-go destination, the pull up controlling systemprompts for user input regarding if the identified stop-and-godestination should be ignored or approved. Moreover, that is, sincethere is received with support from the user interface—for instanceprovided from an occupant of the vehicle—intention data indicative ofconfirmation to acknowledge the stop-and-go destination, there may beestablished that said stop-and-go destination should be acknowledged,which equates to that there is an interest in making a detour thereto.Furthermore, that is, since there is derived preference data indicativeof an openable section of the vehicle, preferences in view of anopenable section of the vehicle —for instance a vehicle window—areobtained. Moreover, that is, since the pull up controlling systemmaneuvers, with support from an ADAS or AD system of the vehicle, thevehicle to pull up at the stop-and-go destination with the openablesection aligned with the interaction interface, since the stop-and-godestination—as a result of that intention data has been received—isdeemed to be approved and/or selected for a stop-and-go visit, thevehicle is with assistance from the ADAS or AD system maneuvered to theidentified stop-and-go destination and pulled up at an interactioninterface thereof with the—as indicated by the preference data—preferredopenable section oriented towards and/or facing the interactioninterface. Accordingly, the vehicle is automatically pulled up at thestop-and-go destination—e.g. represented by a mailbox and/or drive thrurestaurant —in a manner positioning the preferred openable section ofthe vehicle 2—e.g. represented by a vehicle window—aligned with theinteraction interface—e.g. represented by a mailbox or mailbox openingand/or drive thru delivery/payment window—for instance at apredeterminable distance therefrom. Thus, with such a pull up positionof the preferred openable section relative the interaction interface,there is provided a convenient placement of the vehicle in view ofpotential vehicle occupant interaction with and/or via the interactioninterface

For that reason, an approach is provided for in an improved and/oralternative manner controlling a vehicle in a planned stop-and-gosituation.

The technical features and corresponding advantages of the abovementioned method will be discussed in further detail in the following.

BRIEF DESCRIPTION OF THE DRAWINGS

The various aspects of the non-limiting embodiments, includingparticular features and advantages, will be readily understood from thefollowing detailed description and the accompanying drawings, in which:

FIG. 1 illustrates a schematic view of an exemplifying pull upcontrolling system of a vehicle according to embodiments of thedisclosure:

FIG. 2 is a schematic block diagram illustrating an exemplifying pull upcontrolling system according to embodiments of the disclosure; and

FIG. 3 is a flowchart depicting an exemplifying method performed by apull up controlling system according to embodiments of the disclosure.

DETAILED DESCRIPTION

Non-limiting embodiments of the present disclosure will now be describedmore fully hereinafter with reference to the accompanying drawings, inwhich currently preferred embodiments of the disclosure are shown. Thisdisclosure may, however, be embodied in many different forms and shouldnot be construed as limited to the embodiments set forth herein. Likereference characters refer to like elements throughout. Dashed lines ofsome boxes in the figures indicate that these units or actions areoptional and not mandatory.

In the following, according to embodiments herein which relate tocontrolling a vehicle in a planned stop-and-go situation, there will bedisclosed an approach according to which an occupant of a vehicle may beassisted in pulling up at a desired stop-and-go destination—such as amailbox and/or drive thru restaurant or the like—in a convenient manner.

Referring now to the figures, there is depicted in FIG. 1 a schematicview of an exemplifying pull up controlling system 1 of a vehicle 2according to embodiments of the disclosure, and in FIG. 2 a schematicblock diagram illustrating an exemplifying pull up controlling system 1according to embodiments of the disclosure. The pull up controllingsystem 1 is adapted for controlling the vehicle 2 in a plannedstop-and-go situation.

The exemplifying vehicle 2 may be represented by any arbitrary—e.g.known—manned or unmanned vehicle, for instance an engine-propelled orelectrically-powered vehicle such as a car, truck, lorry, van, busand/or tractor. Moreover, the term “vehicle” may refer to “autonomousand/or at least partly autonomous vehicle”, “driverless and/or at leastpartly driverless vehicle”, and/or “self-driving and/or at least partlyself-driving vehicle”. The vehicle 2 thus comprises, and/or is adaptedto support an ADAS and/or AD system 21, i.e. an advanceddriver-assistance system and/or an automated driving system. Such anADAS and/or AD system 21 may refer to any arbitrary ADAS and/or ADsystem, e.g. known in the art and/or yet to be developed. The vehicle 2and/or the ADAS or AD system 21 may comprise, be provided with and/orhave on-board an optional perception system (not shown) and/or similarsystem and/or functionality adapted to estimate surroundings of thevehicle 2, and subsequently adapted to estimate world views of thesurroundings e.g. with support from a—e.g. commonly known—digital mapsuch as a high definition, HD, map. Such an exemplifying perceptionsystem or similar system may refer to any commonly known system and/orfunctionality, e.g. comprised in one or more electronic control modules,ECUs, and/or nodes of the vehicle 2 and/or the ADAS or AD system 21,adapted and/or configured to interpret sensory information—relevant fordriving of the vehicle 2—to identify e.g. obstacles, vehicle lanes,relevant signage, appropriate navigation paths etc. The exemplifyingperception system or similar system—which may be adapted to support e.g.sensor fusion, tracking, localization etc.—may thus be adapted to relyon sensory information. Such exemplifying sensory information may forinstance be derived from one or more—e.g. commonly known—sensorscomprised in and/or provided on-board the vehicle 2 adapted to senseand/or perceive the vehicle's 2 whereabouts and/or surroundings, forinstance represented by one or a combination of one or more of apositioning system, odometer, inertial measurement units, radar, lidar,ultrasonics and/or one or more image capturing devices such as cameras.

The phrase “pull up controlling system” may refer to “pull up assistingsystem”, “pull up system”, “stop-and-go controlling system” and/ormerely “control system”, whereas “of” a vehicle may refer to “comprisedin” a vehicle and/or “on-board” a vehicle. “For” controlling a vehicle,on the other hand, may refer to “adapted for” controlling a vehicle,whereas “for controlling a vehicle” may refer to “for assisting avehicle occupant”, and according to an example further to “formaneuvering —and potentially controlling cockpit functionality of —avehicle”. Moreover, the phrase “in a planned stop-and-go situation” mayrefer to “during a planned stop-and-go situation”, “in a predetermined,intentional, desired, acknowledged and/or approved stop-and-gosituation”, “in a planned temporary pull up and/or stand stillsituation” and/or “in a planned stop-and-go situation of said vehicle”.

The pull up controlling system 1 is—e.g. by means of a positiondetermining unit 101—adapted and/or configured for determining withsupport from a positioning system 22, a position of the vehicle 2.Thereby, there is established a geographical position and/orlocalization of the vehicle 2

Determining the position of the vehicle 2 with support from thepositioning system 22 may be accomplished in any arbitrary—e.g.known—manner, potentially with support from dead reckoning computationsand/or similar approaches. Similarly, the positioning system 22 may berepresented by any arbitrary—e.g. known—sensors and/or functionalityadapted to sense and/or determine whereabouts and/or geographicalposition, e.g. via GNSS such as GPS. Moreover, the positioning system 22may be at least partly comprised in—and/or provided on-board—the vehicle2, for instance in association with the ADAS and/or AD system 21.

The phrase “determining [. . . ] a position” may refer to “deriving [. .. ] a position”, whereas “position” may refer to “geographicalposition”. The phrase “with support from a positioning system”, on theother hand, may refer to “with input from a positioning system”, “from apositioning system”, “with support at least from a positioning system”and/or “with support from a positioning system comprised in and/oron-board said vehicle”, whereas “a position of said vehicle” may referto “a vehicle position”.

The pull up controlling system 1 is—e.g. by means of a destinationidentifying unit 102—adapted and/or configured for identifying withsupport from a digital map 23, a stop-and-go destination 3 within apredeterminable distance from the vehicle position, wherein thestop-and-go destination 3 comprises an interaction interface 31.Thereby, by mapping the vehicle position to a digital map 23, a placeand/or facility suitable, of interest and/or applicable for a temporaryvehicle pull up such as e.g. a mailbox—as illustrated in exemplifyingFIG. 1—and/or drive thru restaurant, having an interaction interface 31such as e.g. a mailbox or mailbox opening—as illustrated in exemplifyingFIG. 1—and/or drive thru delivery/payment window, may be found invicinity of the vehicle 2.

Identifying—based on the vehicle position—a stop-and-go destination 3within a predeterminable distance from the vehicle 2, may beaccomplished in any arbitrary—e.g. known—manner in view of the digitalmap 23. For instance, the stop-and-go destination 3—e.g. a drive thrurestaurant—may be recognized, tagged and/or marked as such in thedigital map 23 e.g. as default, or alternatively, the stop-and-godestination 3—e.g. a mailbox and/or the coordinated thereof—may havebeen pre-selected and/or pre-stored as such by a user e.g. a potentialoccupant of the vehicle 2, e.g. having access to and/or owning saidmailbox. The digital map 23 may be represented by any arbitrary—e.g.known—digital map, such as a high definition, HD, map and/or anequivalent and/or successor thereof. Moreover, the digital map 23 may beat least partly comprised in—and/or provided on-board—the vehicle 2, forinstance in association with the ADAS and/or AD system 21. Thepredeterminable distance from the vehicle position, on the other hand,may be represented by any arbitrary feasible distance, for instanceranging from a few meters up to tens of kilometers. According to anexample, the predeterminable distance may be restricted by a visibilityrange of one or more sensors on-board the vehicle 2

The stop-and-go destination 3 may be represented by any arbitraryfacility and/or location applicable and/or feasible—and/or determined ordeemed applicable and/or feasible—for a temporary vehicle pull up,providing an interaction interface 31 via and/or through which auser—e.g. an occupant of the vehicle 2—may interact. The stop-and-godestination 3 may accordingly be represented by e.g. a mailbox, a drivethru facility such as e.g. a drive thru restaurant and/or store, and/ora parking ticket and/or toll payment station or the like. Similarly, theinteraction interface 31 may be represented by e.g. an exchange,handover, delivery and/or transaction interface e.g. an opening—such ase.g. an openable window, door or slot e.g. manually operated—and/or amachine such as a cash collector and/or payment card reader

The phrase “identifying [. . . ] a stop-and-go destination” may refer to“deriving and/or determining [. . . ] a stop-and-go destination”,“identifying [. . . ] a stop-and-go facility, target, place, place ofinterest and/or location”, “identifying [. . . ] a temporary pull updestination” and/or “identifying [. . . ] a destination, place,location, element and/or coordinates associated with, tagged and/ormarked as relevant for temporary vehicle pull up”. The phrase“identifying with support from a digital map”, on the other hand, mayrefer to “identifying with input from a digital map”, “identifying froma digital map” and/or “identifying with support from a digital mapcomprised in and/or on-board said vehicle”, whereas “within apredeterminable distance from said vehicle position” according to anexample may refer to “within a presumed, determined and/or derivedsensor range of said vehicle”. Moreover, “interaction interface” mayrefer to “exchange, handover delivery and/or transaction interface”and/or “interaction interface providing and/or supporting interactionwith a user such as an occupant of a vehicle through an openable sectionof the vehicle”.

The pull up controlling system 1 is—e.g. by means of an input requestingunit 105—adapted and/or configured for providing with support from auser interface 24, a user input request 4 relating to whether to discardor acknowledge the stop-and-go destination 3. Thereby, the pull upcontrolling system 1 prompts for user input regarding if the identifiedstop-and-go destination 3 should be ignored or approved.

Providing the user input request 4 may be accomplished in anyarbitrary—e.g. known—manner with assistance from the user interface 24,and similarly, the user interface 24 may be represented by any arbitraryfeasible—e.g. known—interface adapted to present the user input request4, e.g. to a potential occupant of the vehicle 2. For instance, the userinput request 4 may be provided via a user interface 24 as a messageand/or information indicative of the identified stop-and-go destination4, e.g. in a visible and/or audible manner. Correspondingly, the userinterface 24 may for instance be represented by a user interface 24comprising a display—such as a touch sensitive display—and/or one ormore loudspeakers.

The phrase “providing [. . . ] a user input request” may refer to“communicating [. . . ] a user input request”, “requesting [. . . ] userinput” and/or “prompting [. . . ] for user input”, whereas “user inputrequest” may refer to “user confirmation request”, “user intentionrequest” and/or “user input demand”. Moreover, according to an example,the phrase “providing [. . . ] a user input request relating to whetherto discard or acknowledge said stop-and-go destination” may refer to“providing [. . . ] a user input request signal, message and/or datarequesting input—and/or indicating a request for input—regarding whetherto discard or acknowledge said stop-and-go destination”. The phrase“user input request relating to whether to discard or acknowledge saidstop-and-go destination”, on the other hand, may refer to “user inputrequest indicative of, posing and/or comprising a question whether todiscard or acknowledge said stop-and-go destination”, whereas “discard”may refer to “ignore and/or reject” and “acknowledge” may refer to“approve and/or accept”. Moreover, the phrase “user interface” may referto “human machine interface”, and according to an example further to“user interface of and/or comprised in said vehicle”. Furthermore, thephrase “providing with support from a user interface” may refer to“providing with assistance from a user interface” and/or “providing toand/or via a user interface”

The pull up controlling system 1 is—e.g. by means of an intentionreceiving unit 106—adapted and/or configured for receiving with supportfrom the user interface 24, intention data 5 indicative of confirmationto acknowledge the stop-and-go destination 3. Thereby, should data 5relating to acceptance of the identified stop-and-go destination 3 bereceived via the user interface 24—for instance provided from anoccupant of the vehicle 2—then there may be established that saidstop-and-go destination 3—in exemplifying FIG. 1 represented by amailbox—should be acknowledged, which equates to that there is aninterest in making a detour thereto 3.

Receiving the intention data 5 confirming that said stop-and-godestination 3 should be acknowledged may be accomplished in anyarbitrary—e.g. known—manner with assistance from the user interface 24.For instance, the intention data 5 may be received via a touch displayof said user interface 24, and/or audibly via a microphone thereof, asprovided by a user e.g. an occupant of the vehicle 2. According to anexample, non-receiving of—and/or failure to receive—intention data 5within a predeterminable time period, may equate to that the stop-and-godestination 3 should be deemed to be discarded.

The phrase “receiving [. . . ] intention data” may refer to “deriving [.. . ] intention data”, and according to an example further to “receivingwithin a predeterminable time period [. . . ] intention data”, wheresuch an optional predeterminable time period for instance may range froma few seconds up to several minutes. The phrase “intention data”, on theother hand, may refer to “user input data” and/or “an intention messageand/or signal”. Moreover, “intention data indicative of confirmation toacknowledge said stop-and-go destination” may refer to “intention datareflecting confirmation to acknowledge said stop-and-go destination”and/or “intention data confirming acknowledgment of said stop-and-godestination”. Furthermore, the phrase “receiving with support from saiduser interface” may refer to “receiving with assistance from said userinterface” and/or “receiving from and/or via said user interface”

The pull up controlling system 1 is—e.g. by means of a preferencesderiving unit 107—adapted and/or configured for deriving preference dataindicative of an openable section 25 of the vehicle 2. Thereby,preferences in view of an openable section 25 of the vehicle 2 areobtained.

The openable section 25 of the vehicle 2 may be represented by anyarbitrary openable portion and/or area of the vehicle 2, such as a door,trunk, boot, hood and/or lid thereof. Optionally, however, the openablesection 25 may comprise—and/or be represented by—an openable window, asillustrated in exemplifying FIG. 1, for instance positioned near—e.g. atand/or next to—a driver seat or passenger seat of the vehicle 2. Thepreference data indicative of the openable section 25, may bepre-stored, e.g. on-board the vehicle 2 and/or in association with auser profile such as of an occupant of the vehicle 2. Moreover, thepreference data—which for instance may indicate a default openablesection 25 such as a driver seat window—may further be adjustable. Forinstance, the preference data may be adjusted and/or set by a user suchas an occupant of the vehicle 2, which preference data then for instancemay be comprised in the intention data 5 or provided in associationtherewith, and/or provided via the user interface 24. Alternatively, thepreference data may be adjusted based on a learned behavior of thevehicle 2 and/or an occupant thereof.

The phrase “deriving preference data” may refer to “obtaining, fetchingand/or receiving preference data”, whereas “preference data” may referto “preferences and/or a preference”. Moreover, the phrase “preferencedata indicative of an openable section of said vehicle” may refer to“preference data indicating and/or pointing out an openable section ofsaid vehicle” and/or “preference data indicative of a preferred and/orselected openable section of said vehicle”.

The pull up controlling system 1 is—e.g. by means of a maneuvering unit108—adapted and/or configured for maneuvering, with support from an ADASor AD system 21 of the vehicle 2, the vehicle 2 to pull up at thestop-and-go destination 3, with the openable section 25 aligned with theinteraction interface 31. Thereby, since the stop-and-go destination3—as a result of that intention data has been received—is deemed to beapproved and/or selected for a stop-and-go visit, the vehicle 2 is withassistance from the ADAS or AD system 21 maneuvered to the identifiedstop-and-go destination 3 and pulled up at an interaction interface 31thereof with the—as indicated by the preference data—preferred openablesection 25 oriented towards and/or facing the interaction interface 31.Accordingly, the vehicle 2 is automatically pulled up at the stop-and-godestination 3—in FIG. 1 represented by a mailbox—in a manner positioningthe preferred openable section 25 of the vehicle 2—in FIG. 1 representedby a vehicle window—aligned with the interaction interface 31—in FIG. 1represented by a mailbox or mailbox opening—for instance at apredeterminable distance therefrom. Thus, with such a pull up positionof the preferred openable section 25 relative the interaction interface31, there is provided a convenient placement of the vehicle 2 in view ofpotential vehicle occupant interaction with and/or via said interactioninterface 31

Maneuvering the vehicle 2 to pull up at the stop-and-go destination 3with the openable section 25 aligned with the interaction interface 31may be accomplished in any arbitrary feasible manner with assistancefrom the ADAS or AD system 21. For instance, the vehicle 2 may bemaneuvered utilizing the digital map 23, the positioning system 22, theoptional perception system or similar system and/or on-board sensorssuch as discussed above. The openable section 25 may be aligned with theinteraction interface 31 for instance at a predeterminable distancetherefrom, which distance for instance may range from a few centimetersup to over a meter. Moreover, such a distance—which for instance may beset to a default value—may further be adjustable and/or set by a usersuch as an occupant of the vehicle 2, which distance then for instancemay be comprised in the intention data 5 or provided in associationtherewith, and/or provided via the user interface 24. Alternatively,said distance may be adjusted based on a learned behavior of the vehicle2 and/or an occupant thereof.

Once potential interaction has taken place and/or the vehicle 2 is dueto drive away from the interaction interface 31, an occupant e.g. adriver of the vehicle 2 may take control thereof, e.g. by inactivationof a parked and/or standstill mode of the vehicle 2.

The phrase “maneuvering [. . . ] said vehicle” may refer to “controlling[. . . ] said vehicle” and/or “at least partly maneuvering [. . . ] saidvehicle”, and according to an example further to “maneuvering based onsaid preference data [. . . ] said vehicle”. Moreover, “maneuvering withsupport from an ADAS or AD system” may refer to “maneuvering utilizingan ADAS or AD system” and/or “maneuvering with assistance from an ADASor AD system”. The phrase “pull up at said stop-and-go destination”, onthe other hand, may refer to “stop and/or standstill at said stop-and-godestination”, and according to an example further to “pull up and bringand/or set said vehicle to an at least partly parked and/or standstillmode at said stop-and-go destination”. Moreover, the phrase “with saidopenable section aligned with said interaction interface” may refer to“with said openable section essentially aligned with said interactioninterface” and/or “with said openable section oriented towards, facingand/or pulled up alongside said interaction interface”, and according toan example further to “with said openable section aligned with saidinteraction interface at a predeterminable distance therefrom” and/ormerely “with said openable section—and/or a predeterminable portionthereof—positioned at a predeterminable distance from said interactioninterface and/or a predeterminable portion thereof'.

Optionally, the pull up controlling system 1 may—e.g. by means of anoptional opening unit 109—be adapted and/or configured for opening atleast partly, with support from an opening/closing control system 26,the openable section 25. Thereby, the preferred openable section 25—inFIG. 1 represented by a vehicle window—may be opened e.g. pulled downwithout involvement from a vehicle occupant. Accordingly, not only isthe vehicle 2 automatically pulled up at the stop-and-go destination 3with the preferred openable section 25 of the vehicle 2 aligned with theinteraction interface 31 of the stop-and-go destination 3, additionallymay said openable section 25 then be automatically opened, which mayprovide even more convenience for an occupant of said vehicle 2.

Opening of the openable section 25 may be initiated at any arbitraryfeasible time point. For instance, opening of the openable section 25may be initiated upon the vehicle 2 having pulled up at the stop-and-godestination 3, and for instance further have been brought and/or set toan at least partly parked and/or standstill mode by the pull upcontrolling system 1. Alternatively, opening of the openable section 25may be initiated at any arbitrary time point prior to the vehicle 2being brought to a stop at the stop-and-go destination 3, such as lessthan a second prior thereto up to minutes prior thereto. Theopening/closing control system, on the other hand, may refer to anyarbitrary—e.g. known—control system and/or functionality adapted tocontrol opening and/or closing of the openable section 25, e.g.comprising one or more commonly known actuators.

Once potential interaction has taken place and/or the vehicle 2 is dueto drive away from the interaction interface 31, an occupant e.g. adriver of the vehicle 2 may as previously discussed take controlthereof, e.g. by inactivation of a parked and/or standstill mode of thevehicle 2, whereby the openable section 25 may be automaticallyclosed—and/or re-set to a previous position—by the pull up controllingsystem 1.

The phrase “opening at least partly” may refer to “opening fully or to apredeterminable extent”, whereas “opening [. . . ] with support from anopening/closing control system” may refer to “opening [. . . ] withassistance from an opening/closing control system” and/or “opening [. .. ] utilizing an opening/closing control system”. According to anexample, the phrase “opening [. . . ] said openable section” may referto “opening [. . . ] said openable section when said vehicle has beenbrought to a stop and/or standstill at said stop-and-go destination”and/or “opening [. . . ] said openable section when said vehicle hasbeen brought and/or set to an at least partly parked and/or standstillmode at said stop-and-go destination”.

Optionally, the pull up controlling system 1 may—e.g. by means of anoptional adjusting unit 110—be adapted and/or configured for adjustingat least a first vehicle setting and/or position of at least a firstcockpit function and/or element of the vehicle 2 to support vehicleoccupant interaction with the interaction interface 31, for instance—asillustrated in exemplifying FIGS. 1-2—interior illumination 271 of thevehicle 2 with support from an illumination control system 27. Thereby,action(s) may be taken in terms of adjustment of one or more cockpitfunctions and/or cockpit elements of the vehicle 2—such as increasinginterior illumination 271—to facilitate interaction by a potentialoccupant of said vehicle 2 with and/or via the interaction interface 31of the stop-and-go destination 3.

The at least first cockpit function and/or cockpit element of thevehicle 2 may be represented by and/or comprise any arbitrary HW- and/orSW-related functionality of the vehicle 2 applicable for the vehicle's 2cockpit, whereas adjusting at least a first vehicle setting and/orposition thereof may be represented by and/or comprise any arbitraryfeasible adjustment deemed to support—e.g. facilitate—potential vehicleoccupant interaction with the interaction interface 31. For instance,adjusting at least a first vehicle setting and/or position of at least afirst cockpit function and/or element of the vehicle 2 may berepresented by and/or comprise adjusting one or more vehicle settingsand/or positions of one or more or a combination of interiorillumination 271 e.g. increasing and/or modifying interior illumination271, vehicle seat e.g. seat position adjustment, seat belt e.g.loosening and/or unbuckling thereof, steering wheel e.g. retractionthereof, audio volume e.g. decreasing the volume, etc. Adjusting the oneor more vehicle settings and/or positions of the one or more cockpitfunctions and/or elements may be initiated at any arbitrary feasibletime point. For instance, adjusting the one or more vehicle settingsand/or positions of the one or more cockpit functions and/or elementsmay be initiated upon the vehicle 2 having pulled up at the stop-and-godestination 3, and for instance further have been brought and/or set tto an at least partly parked and/or standstill mode by the pull upcontrolling system 1. Alternatively, adjusting the one or more vehiclesettings and/or positions of the one or more cockpit functions and/orelements may be initiated at any arbitrary time point prior to thevehicle 2 being brought to a stop at the stop-and-go destination 3, suchas less than a second prior thereto up to minutes prior thereto. Theoptional illumination control system 27, on the other hand, may refer toany arbitrary—e.g. known—control system and/or functionality adapted tocontrol interior illumination 271 of the vehicle 2.

Once potential interaction has taken place and/or the vehicle 2 is dueto drive away from the interaction interface 31, an occupant e.g. adriver of the vehicle 2 may as previously discussed take controlthereof, e.g. by inactivation of a parked and/or standstill mode of thevehicle 2, whereby the at least first vehicle setting and/or position ofthe at least first cockpit function and/or element of the vehicle 2automatically may be re-set to its previous setting and/or position bythe pull up controlling system 1.

“Adjusting at least a first vehicle setting and/or position” may referto “setting at least a first vehicle setting and/or position”, whereasthe phrase “adjusting at least a first vehicle setting and/or positionof at least a first cockpit function and/or element of said vehicle”according to an example may refer to “adjusting at least a first vehiclesetting and/or position of at least a first cockpit function and/orelement of said vehicle when said vehicle has been brought and/or set toan at least partly parked and/or standstill mode at said stop-and-godestination”. Moreover, the phrase “to support vehicle occupantinteraction” may according to an example refer to “to supportfacilitated vehicle occupant interaction”, whereas the phrase “forinstance interior illumination” according to an example may refer to“for instance increasing interior illumination”.

Optionally, the pull up controlling system 1 may—e.g. by means of anoptional image obtaining unit 103—be adapted and/or configured forobtaining image data 281 with support from one or more image capturingdevices 28 adapted to capture surroundings of the vehicle 2. The pull upcontrolling system 1 is then—e.g. by means of an optional interfaceidentifying unit 104—further adapted and/or configured for identifyingthe interaction interface 31 based on the image data 281. Thereby, thereis derived data 281 from one or more images of vehicle surroundingscaptured by said image capturing device(s) 28, which image data 281 maybe processed and/or analyzed for finding and/or locating the interactioninterface 31 of the stop-and-go destination 3. Accordingly, based onsaid image data 281, presumably comprising at least a portion of theinteraction interface 31, the interaction interface 31—for instancerepresented by a mailbox or mailbox opening as illustrated in FIG. 1and/or drive thru delivery/payment window—may be recognized.

The image data 281 may be obtained in any arbitrary—e.g. known—mannerwith support from the at least first image capturing device 28, forinstance derived from one or more images captured by said imagecapturing device(s) 28, for instance continuously and/or intermittently.Similarly, the one or more image capturing devices 28—which may becomprised in and/or be provided on-board the vehicle 2 and distributedin any arbitrary feasible manner—may be represented by any arbitrarysensors, functionality and/or systems adapted to capture surrounding ofthe vehicle 2, for instance one or more cameras. According to anexample, the image capturing device(s) 28 may be provided in associationwith the ADAS or AD system 21. Moreover, the image data 281 may berepresented by any arbitrary feasible data derived from the imagecapturing device(s) 28, and further be of any arbitrary feasible sizeand/or format. Furthermore, the image data 281 may cover any arbitraryportion of vehicle surroundings, in any arbitrary direction of thevehicle 2, for instance in at a least a forward direction thereof 2.Notably, however, in order to be able to identify the interactioninterface 31, at least a portion of the interaction interface 31 needsto be comprised in the image data 281, and the interaction interface 31accordingly be within range of at least one of the one or more imagecapturing devices 28. Moreover, the interaction interface 31 may beidentified in any feasible manner from said image data 281. Forinstance, the interaction interface 31 may be identified from objectclassification of the interaction interface 31 in the image data 281,e.g. with support from a—e.g. known—machine learning approach, and/or byfeeding the image data 281 through a—e.g. known—neural network, such ase.g. a convolutional neural network, trained to identify and classifyinteraction interfaces.

The phrase “obtaining image data” may refer to “deriving and/orcapturing image data”, whereas “image data” may refer to “image data ofat least a portion of surroundings of said vehicle” and/or “one or moreimages”. Moreover, according to an example, “obtaining image data withsupport from” may refer to “obtaining image data from one or more imagesderived with support from”. The phrase “adapted to capture surroundingsof said vehicle”, on the other hand, may refer to “adapted to capture atleast a portion of surroundings of said vehicle”. Moreover, the phrase“identifying said interaction interface” may refer to “recognizing,finding and/or locating said interaction interface”, whereas “based onsaid image data” may refer to “based on—and/or by—processing and/oranalyzing said image data”. According to an example, the phrase“identifying said interaction interface based on said image data” mayrefer to” identifying said interaction interface based on objectclassification of said interaction interface in said image data” and/or“identifying said interaction interface based on feeding said image datathrough a neural network, such as a convolutional neural network,trained to identify and classify interaction interfaces”.

Optionally, the pull-up at the stop-and-go destination 3 may be based ona pre-recorded manually operated vehicle pull up at the stop-and-godestination 3. Thereby, the vehicle 2 may be maneuvered to pull up atthe stop-and-go destination 3 with the openable section 25 aligned withthe interaction interface 31, based on a previous manually maneuveredvehicle pull up e.g. with said vehicle—and/or by a user and/or occupantof said vehicle—at the stop-and-go destination 3. Accordingly, amemorized and/or learned behavior of the vehicle 2 and/or a user thereofin terms of pulling up at a specific stop-and-go destination 3—forinstance a mailbox to which an occupant of the vehicle 2 has accessand/or owns—may form basis for a subsequent ADAS or AD system 21supported pull up at said specific stop-and-go destination 3. Similarly,additionally or alternatively, the preference data described above maybe based on a pre-recorded manual selection of an openable section 25.In a similar manner, additionally or alternatively, the optional openingby the pull up controlling system 1 of the openable section 25 describedabove, may be based on a pre-recorded manually operated opening of theopenable section 25. Further similarly, additionally or alternatively,the optional adjusting of an at least first vehicle setting and/orposition of an at least first cockpit function and/or element of thevehicle 2 described above, may be based on a pre-recorded manuallyoperated adjusting of an at least first vehicle setting and/or positionof an at least first cockpit function and/or element of the vehicle 2.Thus, behavior memorized and/or learned during a manually operatedvehicle pull up at a specific interaction interface 31 of a specificstop-and-go destination 3, e.g. associated with a preferred maneuveringpath and/or pull up position as selected by manually operatedmaneuvering, a preferred openable section 25—and potentially preferredextent of opening thereof—as selected by manual opening of said openablesection 25, and/or potentially preferred adjustment of settings and/orpositions of cockpit functions and/or cockpit elements as selected bymanual adjustment thereof e.g. manually increased interior illumination271, may hence form basis for a subsequent ADAS or AD system 21 operatedpull up at said stop-and-go destination 3.

The pre-recorded manually operated vehicle pull up may be—and/or havebeen—recorded, learned, memorized and/or stored—e.g. on-board thevehicle 2 and/or in association with a user such as an occupant of thevehicle 2—at any arbitrary prior time point. Moreover, recording of themanually operated vehicle pull up may be—and/or have been—initiated by auser such as an occupant of the vehicle 2, for instance with supportfrom and/or via a user interface, such as the user interface 24described above.

The phrase “wherein said pull up at said stop-and-go destination isbased on a pre-recorded manually operated vehicle pull up” may refer to“wherein said pull up at said stop-and- go destination additionally isbased on a pre-recorded manually operated vehicle pull up” and/or“wherein said pull up at said stop-and-go destination is based on alearned, memorized and/or digitally stored manually operated previousvehicle pull up”. According to an example, the phrase “based on avehicle pull up” may refer to “based on a pull up of said vehicle”.

As further shown in FIG. 2, the pull up controlling system 1 comprises aposition determining unit 101, a destination identifying unit 102, anoptional image obtaining unit 103, an optional interface identifyingunit 104, an input requesting unit 105, an intention receiving unit 106,a preferences deriving unit 107, a maneuvering unit 108, an optionalopening unit 109 and an optional adjusting unit 110, all of whichalready have been described in greater detail above. Furthermore, theembodiments herein for controlling a vehicle 2 in a planned stop-and-gosituation, may be implemented through one or more processors, such as aprocessor 111, here denoted CPU, together with computer program code forperforming the functions and actions of the embodiments herein. Saidprogram code may also be provided as a computer program product, forinstance in the form of a data carrier carrying computer program codefor performing the embodiments herein when being loaded into the pull upcontrolling system 1. One such carrier may be in the form of a CD ROMdisc and/or a hard drive, it is however feasible with other datacarriers. The computer program code may furthermore be provided as pureprogram code on a server and downloaded to the pull up controllingsystem 1. The pull up controlling system 1 may further comprise a memory112 comprising one or more memory units. The memory 112 may be arrangedto be used to store e.g. information, and further to store data,configurations, schedulings, and applications, to perform the methodsherein when being executed in the pull up controlling system 1. Forinstance, the computer program code may be implemented in the firmware,stored in FLASH memory 112, of an embedded processor 111, and/ordownloaded wirelessly e.g. from an off-board server. Furthermore, theposition determining unit 101, the destination identifying unit 102, theoptional image obtaining unit 103, the optional interface identifyingunit 104, the input requesting unit 105, the intention receiving unit106, the preferences deriving unit 107, the maneuvering unit 108, theoptional opening unit 109, the optional adjusting unit 110, the optionalprocessor 111 and/or the optional memory 112, may at least partly becomprised in one or more nodes 113 e.g. ECUs of the vehicle 2, e.g. inand/or in association with the ADAS or ADS system 21. Those skilled inthe art will also appreciate that said units 101-110 described above aswell as any other unit, interface, system, controller, module, device,element, feature, or the like described herein may refer to, comprise,include, and/or be implemented in or by a combination of analog anddigital circuits, and/or one or more processors configured with softwareand/or firmware, e.g. stored in a memory such as the memory 112, thatwhen executed by the one or more processors such as the processor 111perform as described herein. One or more of these processors, as well asthe other digital hardware, may be included in a singleApplication-Specific Integrated Circuitry, ASIC, or several processorsand various digital hardware may be distributed among several separatecomponents, whether individually packaged or assembled into aSystem-on-a-Chip, SoC.

FIG. 3 is a flowchart depicting an exemplifying method performed by apull up controlling system 1 according to embodiments of the disclosure.Said method is for controlling a vehicle 2 in a planned stop-and-gosituation. The exemplifying method, which may be continuously repeated,comprises one or more of the following actions discussed with supportfrom FIGS. 1-2. Moreover, the actions may be taken in any suitable orderand/or one or more actions may be performed simultaneously and/or inalternate order where applicable. For instance, optional Action 1003and/or optional Action 1004 may be performed simultaneously and/or priorto Action 1001 and/or Action 1002.

Action 1001

In Action 1001, the pull up controlling system 1 determines—e.g. withsupport from the position determining unit 101—with support from apositioning system 22, a position of the vehicle 2.

Action 1002

In Action 1002, the pull up controlling system 1 identifies—e.g. withsupport from the destination identifying unit 102—with support from adigital map 23, a stop-and-go destination 3 within a predeterminabledistance from the vehicle position, wherein the stop-and-go destination3 comprises an interaction interface 31.

Action 1003

In optional Action 1003, the pull up controlling system 1 mayobtain—e.g. with support from the optional image obtaining unit103—image data 281 with support from one or more image capturing devices28 adapted to capture surroundings of the vehicle 2.

Action 1004

In optional Action 1004, which may follow upon optional Action 1003, thepull up controlling system 1 may identify—e.g. with support from theoptional interface identifying unit 104—the interaction interface 31based on the image data 281.

Action 1005

In Action 1005, the pull up controlling system 1 provides—e.g. withsupport from the input requesting unit 105—with support from a userinterface 24, a user input request 4 relating to whether to discard oracknowledge the stop-and-go destination 3.

Action 1006

In Action 1006, the pull up controlling system 1 receives—e.g. withsupport from the intention receiving unit 106—with support from the userinterface 24, intention data 5 indicative of confirmation to acknowledgethe stop-and-go destination 3.

Action 1007

In Action 1007, the pull up controlling system 1 derives—e.g. withsupport from the preferences deriving unit 107—preference dataindicative of an openable section 25 of the vehicle 2.

Optionally, the openable section 25 of the vehicle 2 may comprise anopenable window, for instance positioned near a driver seat or passengerseat of the vehicle 2.

Action 1008

In Action 1008, the pull up controlling system 1 maneuvers—e.g. withsupport from the maneuvering unit 108—with support from an ADAS or ADsystem 21 of the vehicle 2, the vehicle 2 to pull up at the stop-and-godestination 3, with the openable section 25 aligned with the interactioninterface 31.

Optionally, the pull up at the stop-and-go destination 3 may be based ona pre-recorded manually operated vehicle pull up of the vehicle 2 at thestop-and-go destination 3.

Action 1009

In optional Action 1009, the pull up controlling system 1 may open atleast partly—e.g. with support from the optional opening unit 109—withsupport from an opening/closing control system 26, the openable section25.

Action 1010

In optional Action 1010, the pull up controlling system 1 mayadjust—e.g. with support from the optional adjusting unit 110—at least afirst vehicle setting and/or position of at least a first cockpitfunction and/or element of the vehicle 2 to support vehicle occupantinteraction with the interaction interface 31, for instance interiorillumination 271 of the vehicle 2 with support from an illuminationcontrol system 27

The person skilled in the art realizes that the present disclosure by nomeans is limited to the preferred embodiments described above. On thecontrary, many modifications and variations are possible within thescope of the appended claims. It should furthermore be noted that thedrawings not necessarily are to scale and the dimensions of certainfeatures may have been exaggerated for the sake of clarity. Emphasis isinstead placed upon illustrating the principle of the embodimentsherein. Additionally, in the claims, the word “comprising” does notexclude other elements or steps, and the indefinite article “a” or “an”does not exclude a plurality.

What is claimed is:
 1. A method performed by a pull up controllingsystem of a vehicle for controlling the vehicle in a planned stop-and-gosituation, the method comprising: determining with support from apositioning system, a position of the vehicle; identifying with supportfrom a digital map, a stop-and-go destination within a predeterminabledistance from the vehicle position, the stop-and-go destinationcomprising an interaction interface; providing with support from a userinterface, a user input request relating to whether to one of discardand acknowledge the stop-and-go destination; receiving with support fromthe user interface, intention data indicative of confirmation toacknowledge the stop-and-go destination; deriving preference dataindicative of an openable section of the vehicle; and maneuvering withsupport from one of an advanced driver-assistance system, ADAS, andautonomous driving, AD, system of the vehicle, the vehicle to pull up atthe stop-and-go destination, with the openable section aligned with theinteraction interface.
 2. The method according to claim 1, wherein theopenable section of the vehicle comprises an openable window positionedadjacent one of a driver seat and a passenger seat of the vehicle. 3.The method according to claim 2, further comprising: opening at leastpartly, with support from an opening/closing control system, theopenable section.
 4. The method according to claim 2, furthercomprising: adjusting at least one of: at least a first vehicle setting;and a position of at least one of a first cockpit function and anelement of the vehicle, to support vehicle occupant interaction with theinteraction interface.
 5. The method according to claim 2, furthercomprising: obtaining image data with support from at least one imagecapturing device configured to capture surroundings of the vehicle; andidentifying the interaction interface based on the image data.
 6. Themethod according to claim 2, wherein the pull up at the stop-and-godestination is based on a pre-recorded manually operated vehicle pull upat the stop-and-go destination.
 7. The method according to claim 1,further comprising: opening at least partly, with support from anopening/closing control system, the openable section.
 8. The methodaccording to claim 7, further comprising: adjusting at least one of: atleast a first vehicle setting; and a position of at least one of a firstcockpit function and an element of the vehicle, to support vehicleoccupant interaction with the interaction interface.
 9. The methodaccording to claim 1, further comprising: adjusting at least one of: atleast a first vehicle setting; and a position of at least one of a firstcockpit function and an element of the vehicle, to support vehicleoccupant interaction with the interaction interface.
 10. The methodaccording to claim 1, further comprising: obtaining image data withsupport from at least one image capturing device configured to capturesurroundings of the vehicle; and identifying the interaction interfacebased on the image data.
 11. The method according to claim 10, whereinthe pull up at the stop-and-go destination is based on a pre-recordedmanually operated vehicle pull up at the stop-and-go destination. 12.The method according to claim 1, wherein the pull up at the stop-and-godestination is based on a pre-recorded manually operated vehicle pull upat the stop-and-go destination.
 13. A pull up controlling system of avehicle for controlling the vehicle in a planned stop-and-go situation,the pull up controlling system comprising: a position determining unitconfigured to determine, with support from a positioning system, aposition of the vehicle; a destination identifying unit configured toidentify, with support from a digital map, a stop-and-go destinationwithin a predeterminable distance from the vehicle position, thestop-and-go destination comprising an interaction interface; an inputrequesting unit configured to provide, with support from a userinterface, a user input request relating to whether to discard oracknowledge the stop-and-go destination; an intention receiving unitconfigured to receive, with support from the user interface, intentiondata indicative of confirmation to acknowledge the stop-and-godestination; a preferences deriving unit configured to derive preferencedata indicative of an openable section of the vehicle; and a maneuveringunit configured to maneuver, with support from one of an advanced driverassistance system, ADAS, and an autonomous driving, AD, system of thevehicle, the vehicle to pull up at the stop-and-go destination, with theopenable section aligned with the interaction interface.
 14. The pull upcontrolling system according to claim 13, wherein the openable sectionof the vehicle comprises an openable window positioned adjacent one of adriver seat and passenger seat of the vehicle.
 15. The pull upcontrolling system according to claim 13, further comprising: an openingunit configured to open, at least partly, with support from anopening/closing control system, the openable section.
 16. The pull upcontrolling system according to claim 13, further comprising: anadjusting unit configured to adjust at least one of: at least a firstvehicle setting; and a position of at least one of a first cockpitfunction and an element of the vehicle, to support vehicle occupantinteraction with the interaction interface.
 17. The pull up controllingsystem according to claim 13, further comprising: an image obtainingunit configured to obtain image data with support from at least oneimage capturing device configured to capture surroundings of thevehicle; and an interface identifying unit configured to identify theinteraction interface based on the image data.
 18. The pull upcontrolling system according to claim 13, wherein the maneuvering unitis configured to maneuver the vehicle to pull up at the stop-and-godestination based on a pre-recorded manually operated vehicle pull up atthe stop-and-go destination.
 19. A vehicle comprising: a pull up controlsystem for controlling the vehicle in a planned stop-and-go situation,the pull up controlling system comprising: a position determining unitconfigured to determine, with support from a positioning system, aposition of the vehicle; a destination identifying unit configured toidentify, with support from a digital map, a stop-and-go destinationwithin a predeterminable distance from the vehicle position, thestop-and-go destination comprising an interaction interface; an inputrequesting unit configured to provide, with support from a userinterface, a user input request relating to whether to discard oracknowledge the stop-and-go destination; an intention receiving unitconfigured to receive, with support from the user interface, intentiondata indicative of confirmation to acknowledge the stop-and-godestination; a preferences deriving unit configured to derive preferencedata indicative of an openable section of the vehicle; and a maneuveringunit configured to maneuver, with support from one of an advanced driverassistance system, ADAS, and an autonomous driving, AD, system of thevehicle, the vehicle to pull up at the stop-and-go destination, with theopenable section aligned with the interaction interface.
 20. A computerstorage medium storing an executable computer program containingcomputer program code that, when executed, causes one of a computer anda processor to perform a method for controlling the vehicle in a plannedstop-and-go situation, the method comprising: determining with supportfrom a positioning system, a position of the vehicle; identifying withsupport from a digital map, a stop-and-go destination within apredeterminable distance from the vehicle position, the stop-and-godestination comprising an interaction interface; providing with supportfrom a user interface, a user input request relating to whether to oneof discard and acknowledge the stop-and-go destination; receiving withsupport from the user interface, intention data indicative ofconfirmation to acknowledge the stop-and-go destination; derivingpreference data indicative of an openable section of the vehicle; andmaneuvering with support from one of an advanced driver-assistancesystem, ADAS, and autonomous driving, AD, system of the vehicle, thevehicle to pull up at the stop-and-go destination, with the openablesection aligned with the interaction interface.